CN108394411A - Vehicle follows start control device - Google Patents
Vehicle follows start control device Download PDFInfo
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- CN108394411A CN108394411A CN201711265159.6A CN201711265159A CN108394411A CN 108394411 A CN108394411 A CN 108394411A CN 201711265159 A CN201711265159 A CN 201711265159A CN 108394411 A CN108394411 A CN 108394411A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
What the present invention provided a kind of vehicle follows start control device, and the type of the road just to get congestion can be estimated without using onboard camera etc., and sets and corresponding with the type of road follow the starting permission time.Each parameter (average running time (Trav) based on the action for indicating this vehicle, down time (Tsav) etc.), find out the type (Ordinary Rd for evaluating the road that this vehicle is travelling, super expressway) be Ordinary Rd or super expressway road Identification evaluation of estimate (P) (S22~S27), based on the road Identification evaluation of estimate (P), it is Ordinary Rd or super expressway (S30 to estimate the road travelled, S34), in the case of super expressway, it will follow starting that the time (Tmo) is allowed to be set to follow starting that the time (Tmo) is allowed to grow (Tm3 ＞ Tm1) (S31 than Ordinary Rd, S35).
Description
Technical area
The vehicle for making this vehicle start to walk automatically the present invention relates to the starting driven a vehicle before a kind of follow follows starting control
Device.
Background technology
In the past, there is known the cruise control (ACC for maintaining control automatically with vehicle headway：Adaptive Cruise
Control：Adaptive learning algorithms) system, when there is no preceding driving, execution maintains the constant-speed traveling control of setting speed
System, in the case where driving a vehicle before detecting, execution makes this vehicle in the state of following vehicle headway relative to preceding driving maintenance
What is followed follows traveling control.
In addition, recently, it is also known that there are the suitable application region of the ACC system is extended to low-speed region (0 [Km/h]~), and
Have the function of to follow (TJA automatically when congestion：traffic jamassist：Traffic congestion assist) system.When with the congestion
The automatic ACC system for following function in, if detecting the parking for the preceding driving for following object, ACC system makes to have followed
Step control starts.It in this follows starting control, drives a vehicle and automatic stopping before so that this vehicle is followed, that drives a vehicle before detecting rises
After step, drives a vehicle and start to walk automatically before so that this vehicle is followed.
But if down time when congestion is elongated, pedestrian and/or bicycle etc. pass through the possibility of this vehicle front
Property is got higher.Therefore, in ACC controls, after this vehicle follows parking, to carrying out timing by the time before preceding driving starting,
This by the time have passed through it is preset follow starting to allow the time in the case of, releasing follows automatic starting control.And
And continue dead ship condition, it pedal or is again turned on the expression such as automatic Pilot switch until driver steps on the throttle and again starts to walk
Wish.
In this case, for example, disclosing following skill in patent document 1 (Japanese Unexamined Patent Publication 2013-203380 bulletins)
Art, that is, in the case where control unit detects that hydropac lamp is opened, judgement starts congestion, and will be preset usual
Follow starting allow time lengthening setting time.Complicated starting behaviour need not be repeated in driver in congestion as a result,
Make, the burden that driveaway operation is brought can be mitigated.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2013-203380 bulletins
Invention content
Technical problem
But in the technology disclosed in above-mentioned document, only congestion is judged using the opening of hydropac lamp, this
There are problems that accuracy shortcoming.In addition, in the case where being determined as that congestion and extending follows starting to allow the time without exception,
Pedestrian and/or bicycle etc. easily propagate through on the Ordinary Rd near this vehicle, and in automatic starting, driver needs to give thin
The heart note that instead exist increase burden unfavorable condition.
The limited highways such as Ordinary Rd and super expressway can according to the cartographic information of such as onboard navigation system and/
Or the image data etc. of the surrounding enviroment taken by onboard camera is judged, but cannot cope with and not carry vehicle-mounted photograph
The vehicle of machine and/or navigation system.Moreover, in the cartographic information of no update onboard navigation system, and this vehicle is travelling
The non-typing of road in the case of, it is difficult to which information accurately judges the type of the road according to the map.
Present invention has been made in view of the above circumstances, it is intended that provide a kind of vehicle follows starting control dress
It sets, the vehicle follows start control device just to can determine without using onboard navigation system and/or onboard camera
The type of the road to get congestion, and can suitably set follow corresponding with the type of road and start to walk to allow the time.
Technical solution
The present invention solves the above subject by technical solution as described below.
The present invention has：Preceding driving recognition unit is obtained based on the front information acquisition unit by being equipped on this vehicle
Front environment, detect this vehicle traveling immediately front preceding driving parking and starting；Congestion judging unit, at least
Based on the dynamic of the described vehicle of the preceding parking driven a vehicle and starting and expression detected by the preceding driving recognition unit
The parameter of work, the congestion for the road that judgement is currently travelling；Starting allows judging unit, detection to be identified by the preceding driving
The preceding parking driven a vehicle that unit detects, will be from making described vehicle follow the preceding driving and stopping until detection
Down time until the starting of the preceding driving allows the time to be compared with starting is followed；Follow automatic starting control single
Member is allowing judging unit to be determined as that the down time is in described and starting is followed to allow in the time using the starting
In the case of, execution follows automatic starting control；Road category scavenging valve is being determined as congestion by the congestion judging unit
In the case of, the type based on the road that the parameter for the action for indicating described vehicle, presumption are currently travelling；Follow starting
Allow time setting unit, according to the type of the road by road category scavenging valve presumption, has been followed described in setting
Step allows the time.
Technique effect
According to the present invention, in the case where being determined as congestion, based on the parameter for the action for indicating this vehicle, presumption is current just
In the type of the road of traveling, the type of presumptive road, setting follows starting to allow the time, therefore can be according to road
Type, suitably setting follow starting allow the time.In addition, because not using automatic navigator system and/or vehicle-mounted photograph
Machine just can determine the type of the road just to get congestion, so high versatility can be obtained.
Description of the drawings
Fig. 1 is the structure chart for following start control device for being equipped on this vehicle of first embodiment.
Fig. 2 is the flow chart for indicating the congestion determination processing program.
Fig. 3 is the flow chart (one) for indicating jam road presumption processing subprogram.
Fig. 4 be indicate the jam road presumption processing subprogram flow chart (secondly)
Fig. 5 is the flow chart for indicating to follow parking process program.
Fig. 6 is the flow chart for indicating to follow automatic starting processing routine.
Fig. 7 be according to the type of road and set follow starting allow the time concept map.
Fig. 8 is the vertical view for illustrating the congestion on super expressway.
Fig. 9 is the vertical view for illustrating the congestion on Ordinary Rd.
Figure 10 is the flow chart (one) for the jam road presumption processing subprogram for indicating second embodiment.
Figure 11 be indicate the jam road presumption processing subprogram flow chart (secondly).
(a) of Figure 12 is using average speed as the concept map of the first identification and evaluation chart of parameter, and (b) of Figure 12 is with flat
Equal steering angle is the concept map of the second identification and evaluation chart of parameter, and (c) of Figure 12 is using the absolute value of G before and after maximum as parameter
Third identification and evaluation chart concept map, (d) of Figure 12 is the 4th identification and evaluation chart using average running time as parameter
Concept map, (e) of Figure 12 is using average down time as the concept map of the 5th identification and evaluation chart of parameter.
Symbol description
1 follows start control device, 16 upfront sensors, 17 vehicle speed sensor, 18 front and rear acceleration sensors, 19 to turn to
Driving before angle transducer, Go road categories judgement acceleration and deceleration, M1 this vehicle, N1, P road Identifications evaluation of estimate, P1~P5 first~
5th identification and evaluation value, Po road categories decision threshold, S this speed, Sav average speeds, So road categories judgement speed, T1,
The first, second road categories of T2 judgement time, Tim down times, first~thirds of Tm1~Tm3 allow time, Tmo to follow
Step allow time, Tr running times, Trav be averaged running time, Ts down times, Tsav be averaged down time, Tst1 parkings when
Between, Tst2 running times, θ o road categories judgement steering angle, θ st steering angles, θ stav be averaged steering angle
Specific implementation mode
Hereinafter, being illustrated to an embodiment of the invention based on attached drawing.
[first embodiment]
Fig. 1~Fig. 9 indicates the first embodiment of the present invention.The symbol 1 of Fig. 1 is to follow start control device, is carried
In Fig. 8, shown in Fig. 9 vehicle M1.This follows start control device 1 to have as following the ACC of start control device to control
Unit (ACC_ECU) 11.The ACC_ECU11 by with based on microcomputer is constituted well known to CPU, ROM, RAM etc.,
It is stored in ROM for making CPU realize the fixed datas such as the control program of preset action and/or various charts.
It is connected with automatic Pilot switch 15, as the front biography of front information acquisition unit in the input side of ACC_ECU11
Sensor 16, detect this vehicle M1 speed (hereinafter referred to as " this speed ") S vehicle speed sensor 17, detection result from car body
Front and back G [m/s2] fore-aft acceleration (G) sensor 18, detection direction disk steering angle θ st [deg] steering angle sensor
The accelerator open degree sensor 20 of 19 and the tread-on quantity detection accelerator open degree θ ac according to the gas pedal of driver.Here, from
The dynamic switch 15 that drives is that arbitrarily selection usually drives (switch is closed) and automatic Pilot (switch is opened), and sets ACC and drive
The combination switch of setting speed when sailing etc., the drivers such as the instrument board and/or steering wheel that are arranged before driver's seat can operate
Position.
In addition, upfront sensor 16 is ultrasonic sensor, millimetre-wave radar, microwave radar, infrared sensor, laser
Radar etc. mainly obtains the sensor in the information of the preceding driving N1 (with reference to Fig. 8, Fig. 9) of the traveling immediately front of this vehicle M1,
Mounted on the front surface etc. of front bumper.It should be noted that the upfront sensor 16 can be by main camera and secondary photograph
Mechanism at stereocamera.Alternatively, can also be by monocular camera and above-mentioned ultrasonic sensor, millimetre-wave radar, microwave
Radar, infrared sensor, laser radar etc. are combined and are constituted.
On the other hand, display unit 21 is connected in the outlet side of ACC_ECU11, the air throttle of electronic control throttle is made to open
Close the notification units 24 such as the throttle actuator 22, brake driving portion 23 and alarm, loud speaker of action.It needs to illustrate
, display unit 21 is disposed on the multifunctional information display (MID) of the combination instrument in front of such as driver's seat.
Also, it is also associated with foundation brakes actuator 25, auxiliary brake actuator 26 in brake driving portion 23.Main system
Dynamic device actuator 25 is set to brake driving portion 23, makes the hydraulic braking supplied from hydraulic control unit (not shown) (HCU)
Increase and decrease adjusts the brake force to foundation brakes 25a such as the disk brakes that is set to each wheel.On the other hand, auxiliary brake
Actuator 26 makes the auxiliary brakes such as drum brake for being set to left and right trailing wheel 26a act in parking, maintains this vehicle M1
Dead ship condition.It should be noted that foundation brakes 25a can also be obtained by the pedal brake operation that driver carries out
Desired brake force.
ACC_ECU11 is actuated based on the signal from various sensors, Switch to the air throttle of electronic control throttle
23 output drive signal of device 22 and brake driving portion, based on the running environment information detected by upfront sensor 16, inspection
The preceding driving N1 whether captured in the traveling ahead of this vehicle M1 surveyed.Also, in the case where driving a vehicle N1 before not capturing,
Executing makes this vehicle M1 controls (cruise) with the constant-speed traveling for setting speed traveling.On the other hand, it drives a vehicle before capturing
In the case of N1, execution separates predetermined vehicle headway relative to preceding driving N1 and what is followed follows traveling control (to follow and patrol
Boat).
In addition, the ACC_ECU11 has the preceding driving N1 for following object captured by upfront sensor 16 as detection
Parking and starting preceding driving recognition unit function, moreover, following region to be extended to low-speed region (0 preceding driving N1
[Km/h]~).Therefore, in the case of the parking for the N1 that drives a vehicle before ACC_ECU11 is detected, drive a vehicle N1 before so that this vehicle M1 is followed
And automatic stopping.On the other hand, before detecting drive a vehicle N1 starting, and down time following starting allow the time in
In the case of, so that this vehicle M1 is started to walk automatically.This follow starting allow the time be according to the type of road (in the present embodiment,
It is " Ordinary Rd " and " super expressway " of the representative as limited highway) and be variably set.
In more detail, if ACC_ECU11 is identified based on the running environment information detected by upfront sensor 16
Driving N1 parkings, then make this vehicle M1 stop in the state of keeping preset parking vehicle headway and (follow and stop before going out
Vehicle), to down time of this vehicle M1 (from this vehicle M1 follow the state of parking play detect before driving N1 starting until
Time) Ts carry out timing.
Also, in the case where down time Ts is in and starting is followed to allow within the time, ACC_ECU11 is in preceding driving
After N1 leaves preset starting vehicle headway, this vehicle M1 is made to start to walk automatically and (follow starting control).On the other hand, stopping
Vehicle time Ts has been more than in the case of following starting to allow the time, and cancellation follows starting control, controls and shifts to common ACC.
Therefore, in this state, in the case where wanting to make this vehicle M1 to start to walk, driver is by pedal of stepping on the throttle, or again
The operations such as automatic Pilot switch are opened, starting instruction is sent out to ACC_ECU11.
ACC_ECU11 in the case where being determined as congestion according to the relationship between this vehicle M1 and preceding driving N1, work as by identification
Type (Ordinary Rd, the road that can not differentiate super expressway/Ordinary Rd or the high speed road of the preceding road travelled
Road).As shown in fig. 7, in the present embodiment, according to the road of identification, first~third allows time Tm1~Tm3 to be set
For the relationship with Tm1 ＜ Tm2 ＜ Tm3.As a result, in the present embodiment, it is set as Tm1=3 [sec], Tm2=5~15
[sec], the left and right Tm3=20~35 [sec], but not limited to this.It should be noted that road ring can be divided meticulously
Border, the permission time of the 4th kind of setting or more alternatively, can also omit the third allows the time, and are only permitted by the first~the second
Perhaps the time is constituted.
In congestion decision procedure shown in Fig. 2, execute by the kind of the ACC_ECU11 congestion judgements and road executed
The identification of class.
If ACC_ECU11 starts, congestion decision procedure shown in Fig. 2 is initially executed, carries out congestion in step sl
Judgement.It should be noted that the processing in step S1 is corresponding to congestion decision maker of the invention.
Congestion judgement is carried out based on the speed S [Km/h] of this vehicle M1 of driving N1 travelings before for example following
Judgement.That is, discontinuously falling into parking judgement speed (for example, 15 in the speed S for detecting this vehicle M1 for following traveling
[Km/h]) in the case of state below, alternatively, detecting what this vehicle M1 discontinuously stopped and started to walk in the given time
In the case of state, it is determined as congestion.Alternatively, this speed S and brake switch can also be based on, in the case where running at a low speed in pre- timing
In repeatedly brake switch open/close pre-determined number or more in the case of, be determined as congestion.
Then, S2 is entered step, determines whether to be in congestion, in the case where being judged to being in congestion, into step
Rapid S3, in addition, in the case where being determined as no congestion, branch is to step S4.If entering step S3, jam road is executed
Presumption is handled and is exited the program.In addition, if entering step S4, time Tm1 is allowed to be followed to update with aftermentioned first
Step allows time Tmo (Tmo ← Tm1), exits the program.
The jam road presumption processing executed by above-mentioned steps S3 is handled according to Fig. 3, jam road presumption shown in Fig. 4
Subprogram and handled.It should be noted that the processing in subsequent steps S11~S30, S32, S33 corresponds to this hair
Bright road category scavenging valve.
In the subprogram, first, in step s 11, in order to judge currently to be in congestion road type (" one
As road " and " super expressway ") and read in required parameter.In the present embodiment, to indicate the letter of the action of this vehicle
Breath is parameter, specifically, detected based on this speed S detected by vehicle speed sensor 17, by steering angle sensor 19
The down time Tst1 of steering angle θ st, the front and back G detected by front and back G sensor 18 and this vehicle M1 and from stop to stopping
Running time Tst2 until vehicle.
Later, S12 is entered step, each parameter is sampled successively, until reaching preset sample time (example
Such as, the left and right 1~2 [min]).Then, if having passed through sample time, S13 is entered step.It, will in step S13~S27
Within sample time to the road currently travelled be Ordinary Rd or super expressway be sampled obtained by each parameter
Average value or maximum value are compared with preset threshold value, are general roads for the road that each parameter estimation is travelling
Road or super expressway carry out increment (P ← P+1) in the case where being estimated as Ordinary Rd to road Identification evaluation of estimate P,
It in the case of being estimated as super expressway, remains unchanged (P ← P+0).
Then, in step S28~S32, the road Identification evaluation of estimate P based on calculating finally judges the road travelled
Road is Ordinary Rd or super expressway, and setting is corresponding with the type of road to follow starting to allow time Tmo.It needs to illustrate
It is that the starting that step S28~S32 corresponds to the present invention allows time setting unit.
First, in step s 13, average value (the average vehicle of the speed S measured when driving within sample time is found out
Speed) Sav [Km/h], average speed Sav is compared with preset road category judgement speed So.In general, Fig. 8 institutes
The fleet when congestion of the super expressway shown than Ordinary Rd congestion when train commander, accordingly, with respect to this of Ordinary Rd
When the max speed (30~60 [Km/h] left and right), (20~30 [Km/h] are left for the more low speed of the max speed at this time of super expressway
It is right), have the tendency that so-called slow driving.
Road category judgement speed So is the variation of speed when being conceived to such congestion, based on past statistics or
Person simulation etc. and find out, in the present embodiment, be set to 20~30 [Km/h] degree.
Then, in the case of Sav ＞ So, it is determined as the possibility just travelled on Ordinary Rd height, enters step
S14, setting road Identification evaluation of estimate P (P ← 1), enters step S16.In addition, in the case of Sav≤So, it is determined as high
The possibility travelled on fast road is high, is shunted to step S15, and road Identification evaluation of estimate P is zeroed (P ← 0), S16 is entered step.
In step s 16, the average value by the steering angle θ st detected by steering angle sensor 19 within sample time
(average steering angle) θ stav [deg] are compared with road category judgement steering angle θ o.In the case of linear road, one
As the steering angle θ st that detect on road and super expressway indicate roughly the same value, when being shifted from linear road to detour,
It is connected so that clothoid is smooth with detour because super expressway is linear road, steering angle θ st are than Ordinary Rd
Value small steering angle θ st.Moreover, as shown in figure 8, the radius of curvature of the detour of super expressway is designed bigger than Ordinary Rd, and
Gently.Therefore, in scheduled sampling time, average value (average steering angle) θ for the steering angle θ st being sampled on Ordinary Rd
The possibility of thav high is high.Road category judges that steering angle θ o are the linear spies for being conceived to above-mentioned Ordinary Rd and super expressway
The difference of sign, and found out based on simulation etc..
Then, in the case of θ stav ＞ θ o, it is determined as the possibility just travelled in Ordinary Rd height, enters step
S17 carries out increment (P ← P+1) to road Identification evaluation of estimate P, enters step S19.In addition, in the case of θ stav≤θ o, sentence
It is high to be set to the possibility just travelled in super expressway, branch keeps road Identification evaluation of estimate P constant (P ← P+0) to step S18
And enter step S19.
In step S19, front and back G (slow down or accelerate) will be detected within sample time by front and back G sensor 18
Maximum value absolute value | front and back Gmx | [m/s2] be compared with road category judgement acceleration and deceleration Go.As described above, when congestion
Super expressway on traveling have the tendency that the so-called slow driving stopped and started to walk repeatedly with low speed.In this regard, Ordinary Rd
Congestion readily occur in the wagon flow caused by red eye block (congestion of waiting signal lamp), as shown in Figure 9 in list
Taking the lead vehicle to cross opposite runway and being waited for for intersection is entered on the road of one runway in side
Temporarily ceasing for (being the state waited for of turning right in the case where keeping left), road junction, in this case, becomes in signal lamp
Green, or cross waiting vehicle crossed opposite runway in the case of, subsequent fleet is driven out to.
Therefore, because being stopped, being started to walk repeatedly with the interval of predetermined time, so before the vehicle travelled on Ordinary Rd
G is shown compared with the vehicle for driving (ground traveling of stopping and start to walk repeatedly in a short time) slow on super expressway afterwards
The tendency being worth greatly.Road category judgement acceleration and deceleration Go be when being conceived to congestion vehicle traveling feature difference and set
, in the present embodiment, it is set to Go=0.2G or so.
Then, exist | front and back Gmx | in the case of ＞ Go, it is determined as the possibility just travelled on Ordinary Rd height, enters
Step S20 rises in value (P ← P+1) to road Identification evaluation of estimate P, and enters step S22.In addition, | front and back Gmx |≤Go
In the case of, it is determined as that the possibility just travelled on super expressway height, branch keep road Identification evaluation of estimate P to step S21
Constant (P ← P+0) and enter step S22.
In step S22, based on the speed S detected within sample time by vehicle speed sensor 17, to parking (S=0)
Time between parking (S=0), time (running time) Tr progress timing i.e., from starting until parking, are averaged
Time, (average running time) Trav [sec] was compared with preset first road category judgement time T1.In general, right
For the running time until parking to parking when from congestion, on Ordinary Rd, because waiting signal lamp, temporarily ceasing
It waits for, the waiting (being waited in the case where keeping left to turn right) of crossing of opposite runway occurs.In contrast, in high speed
On road, although without such situation for temporarily ceasing waiting, the train commander of congestion, so running time Tr has than one
As road the short tendency of running time.First road category judgement time T1 is this vehicle M1 when being conceived to such congestion
Action and found out based on simulation etc..
Then, in the case of Trav ＞ T1, it is determined as the possibility just travelled on Ordinary Rd height, enters step
S23 rises in value (P ← P+1) to road Identification evaluation of estimate P, enters step S25.In addition, in the case of Trav≤T1, sentence
It is high to be set to the possibility just travelled on super expressway, branch keeps the constant (P ← P+ of road Identification evaluation of estimate P to step S24
0) S25 is entered step.
If entering step S25, based on the speed S detected within sample time, to traveling (S ＞ 0) and traveling (S
＞ 0) between time, i.e., down time Ts carry out timing, by its (average down time) Tsav [sec] average time with it is pre-
The the second road category judgement time T2 first set is compared.As described above, the congestion of Ordinary Rd is waited for, temporarily with signal lamp
When stop waiting for, waitings (be right-hand rotation waiting in the case where keeping left) of crossing of opposite runway is main cause.Relatively
In this, super expressway is occurred because of train commander when congestion, because starting to walk and stopping repeatedly in a short time, is stopped
Vehicle time Ts has the tendency that shorter than the down time of Ordinary Rd.Second road category judgement time T2 is to be conceived to such gather around
The action of this vehicle M1 when stifled and found out based on simulation etc..
Then, in the case of Tsav ＞ T2, it is determined as the possibility just travelled on Ordinary Rd height, enters step
S26 rises in value (P ← P+1) to road Identification evaluation of estimate P, sets the road Identification evaluation of estimate as final scoring evaluation
P enters step S28.In addition, in the case of Tsav≤T2, it is determined as the possibility just travelled on super expressway height, branch
To step S27, keeps road Identification evaluation of estimate P constant (P ← P+0) and enter step S28.
In step S28, S29, road Identification evaluation of estimate P is compared with road category decision threshold Po, presumption is worked as
The preceding road travelled is Ordinary Rd or super expressway.In this case, if above-mentioned steps S13, S16, S19,
The type of the road judged in S22, S25 be it is consentient, then Ordinary Rd be P=5, super expressway P=0.But each step
Judgement result in rapid is not predicable, certainly comprising erroneous judgement.Therefore, by with road category decision threshold Po come scribe streets
Road identification and evaluation value P, to carry out the judgement close to the type of real road.It should be noted that the road category decision threshold
Simulation etc. of this vehicle action when value Po is according to congestion and find out.
First, in the case of P ＞ Po, S30 is entered step, the congestion being determined as under Ordinary Rd, in step S31,
It follows starting to allow time Tmo (Tmo ← Tm1) to set with the first permission time Tm1, exits the program.
In addition, in the case of P=Po, S32 is entered step, is determined as the road for being in congestion is can not to judge it is one
As the intermediate region of road or super expressway, in step S33, with second permission time Tm2 come set follow starting allow
Time Tmo (Tmo ← Tm2), exits the program.
Moreover, in the case of P≤Po, S34 is entered step, the congestion being determined as under super expressway, in step s 35,
Allow time Tm3 to follow starting to allow time Tmo (Tmo ← Tm3) to set with third, exits the program.It is followed certainly aftermentioned
Reading in this in dynamic starting processing routine follows starting to allow time Tmo.It should be noted that the place in step S31, S33, S35
Reason follows starting to allow time setting unit corresponding to the present invention's.
Then, follow parking process program according to shown in fig. 5, to by ACC_ECU11 execute follow parking toll into
Row simple illustration.In this procedure, first, in step S41, from the running environment information detected by upfront sensor 16
Running information before reading in.
Then, S42 is entered step, the workshop between speed S and this vehicle M1 and preceding driving N1 based on this vehicle M1
Distance, whether driving N1 has stopped before detecting, and in the case where preceding driving N1 is being travelled, directly exits the program.Another party
Face enters step S43 if the parking for the N1 that drives a vehicle before detecting, execution, which follows, to be stopped control and exit the program.
Target vehicle headway and actual vehicle headway when this follows parking toll for example based on parking, for each
Execution cycle is found out the target vehicle speed for making this vehicle M1 be stopped with target vehicle headway when preset parking and (slowed down
Degree).Then, it in a manner of so that this speed S is become target vehicle speed, is driven to throttle actuator 22 and the output of brake driving portion 23
It moves signal and carries out speed control, this vehicle M1 is made gradually to slow down and follow parking.Then, it is followed according to predetermined in this vehicle M1
After parking, it is that automatic starting is followed to do standard to the supply of the hydraulic braking of foundation brakes 25a to maintain foundation brakes actuator 25
It is standby.
If ACC_ECU11 detects that this vehicle M1's follows parking, shown in fig. 6 follow is made to start to walk to handle journey automatically
Sequence starts.
In this procedure, first, in step s 51, start the timing (Tim ← Tim+1) of down time Tim.Then, into
Enter step S52, detect down time Tim, and detect in the jam road presumption processing subprogram of above-mentioned Fig. 3, when parking
Between Tim whether reach with the type of road accordingly set follow starting allow time Tmo, followed in down time Tim
In the case that starting allows within time Tmo (Tim≤Tmo), S53 is entered step.In addition, have passed through follow starting allow when
Between in the case of Tmo (Tim ＞ Tmo), jump into step S55, releasing follows automatic starting control and exits the program.As a result,
To common ACC controls transfer (with reference to Fig. 7).It should be noted that the processing in step S51, S52 is corresponding to the present invention's
Starting allows judging unit.
On the other hand, if entering step S53, based on the preceding running information from upfront sensor 16, detection moves ahead
Whether vehicle N1 has started to walk, and in the case where detecting starting, enters step S54.In addition, the case where just maintaining dead ship condition
Under, it exits the program.
If detecting the starting of preceding driving N1 and entering step S54, execution follows automatic starting to control and enter step
Rapid S55.It follows automatic starting control standby first, is set in advance until the vehicle headway between preceding driving N1 and this vehicle M1 reaches
Fixed starting vehicle headway (parking vehicle headway ＜ startings vehicle headway).Then, when reaching starting vehicle headway, to braking
Device driving portion 23 sends parking and keeps ring off signal, in addition, sending predetermined throttle opening amount signal, solution to throttle actuator 22
Except foundation brakes 25a, and throttle valve is started to walk according to predetermined valve opening after it have passed through predetermined brake and release the time.
It should be noted that can be when making this vehicle M1 start to walk automatically, the intention of starting from notification unit 24 to driver notification.
Then, after automatic starting, if reaching preset vehicle speed, terminate to follow automatic starting control, enter step
S55, releasing follow automatic starting control and exit the program.It is shifted as a result, being controlled to common ACC.
As a result, in the present embodiment, according to the type of road, when by the congestion of super expressway when starting being followed to allow
Between Tmo follow starting to allow time Tmo long when being set to the congestion than Ordinary Rd, therefore, even if as super expressway
The feature of the congestion of upper generation, in a short time repeatedly under the parking of slow driving and the situation of starting under low speed, also can
Appropriate follow enough is set to start to walk that time Tmo is allowed to obtain high as a result, the chance for following and starting to walk automatically can be increased
Convenience.
In addition, because of the position relationship being based only upon between this vehicle M1 and preceding driving N1 and indicating that this vehicle M1's is dynamic
The parameter of work, to estimate the type of the road just to get congestion, even so not carrying onboard navigation system and/or vehicle-mounted
The vehicle of camera, driving aid (TJA when can also construct good congestion:Traffic Jam Assist：Traffic congestion is auxiliary
Auxiliary system) system, high versatility can be obtained.
[second embodiment]
Figure 10~Figure 12 indicates second embodiment of the present invention.Flow chart shown in Figure 10, Figure 11 is to replace above-mentioned figure
3, congestion presumption shown in Fig. 4 handles subprogram and uses.
In the above-described first embodiment, for the type of road when congestion, in the action for indicating this vehicle M1
Parameter and this vehicle M1 and preceding driving N1 between relationship in, indicate road Identification evaluation of estimate P with 1 or 0, be based on it
Summation deduces Ordinary Rd or super expressway, but in the present embodiment, the finer road Identification of setting is commented
Valence estimates the type of road based on its summation.
That is, first, in step S61, S62, identically as step S11, S12 of above-mentioned Fig. 3, to being used to judge currently just
Parameter needed for the type (" Ordinary Rd " and " super expressway ") of road in congestion is sampled, and is set in advance until reaching
Fixed sample time.
Then, after it have passed through sample time, S63 is entered step, in step S63~S68, is set separately and is sampling
In time to the road currently travelled be Ordinary Rd or super expressway be sampled obtained by each parameter average value
Or corresponding first~the 5th parameter identification and evaluation value of maximum value (hreinafter referred to as " identification and evaluation value P ") P1~P5.
That is, average value (average speed) Sav [Km/h] of speed Ss of the step S63 based on this vehicle M1, identifies with reference to first
Judgement schematics sets the first identification and evaluation value P1.(a) example the first identification and evaluation chart of Figure 12.As shown in the drawing, at this
In embodiment, average vehicle is divided with two threshold values (Sav≤15,15 Sav≤30 ＜, 30 ＜ Sav in the figure) in low speed side
Fast Sav carries out assignment P1=2 for each division, and 1,0.
In addition, average value (average steering angle) the θ stav [deg] of step S64 based on steering angle θ st, identify with reference to second
Judgement schematics sets the second identification and evaluation value P2.(b) example the second identification and evaluation chart of Figure 12.As shown in the drawing, at this
In embodiment, average steering is divided with two threshold values (stav≤30 θ, 30 stav≤60 ＜ θ, 60 ＜ θ stav in the figure)
Angle θ stav carry out assignment P2=2 for each division, and 1,0.
In addition, the absolute value of maximum values of the step S65 based on front and back G | front and back Gmx | [m/s2], with reference to third identification and evaluation
Chart sets third identification and evaluation value P3.(c) example third identification and evaluation chart of Figure 12.As shown in the drawing, in this implementation
In mode, with predetermined G (for 0.2G in figure) for threshold value, in | front and back Gmx | for predetermined G it is below (| front and back Gmx |≤
0.2) assignment P3=1, is carried out, in | front and back Gmx | carry out assignment P3=under the case where being more than the threshold value (| front and back Gmx | ＞ 0.2)
0。
In addition, step S66 is based on average running time Trav [sec], the 4th is set with reference to the 4th identification and evaluation chart
Identification and evaluation value P4.The 4th identification and evaluation chart of (d) example of Figure 12.As shown in the drawing, in the present embodiment, with two thresholds
Value (Trav≤90,90 Trav≤120 ＜, 120 ＜ Trav in the figure) divides average running time Trav, for each division
Carry out assignment P4=2,1,0.
In addition, step S67 is based on average down time Tsav [sec], the 5th is set with reference to the 5th identification and evaluation chart
Identification and evaluation value P5.The 5th identification and evaluation chart of (e) example of Figure 12.As shown in the drawing, in the present embodiment, with two thresholds
Value (Tsav≤30,30 Tsav≤60 ＜, 60 ＜ Trav in the figure) divides average down time Tsav, for being respectively partitioned into
Row assignment P5=2,1,0.It should be noted that the evaluation of the quantity of threshold value and the threshold value of division, setting is not limited to above-mentioned value, energy
It is enough arbitrarily to set.
Then, in step S68, above-mentioned each identification and evaluation value P1~P5 is added, calculates and is evaluated as final scoring
Road Identification evaluation of estimate P (P ← Σ P1~P5), it is identical as above-mentioned step S28, S29 shown in Fig. 4 in step S69, S70
Road Identification evaluation of estimate P is compared by ground with road category decision threshold Po, and the road that presumption is currently travelling is general
Road or super expressway.It should be noted that road category decision threshold Po be based on indicate in the road for being in congestion
The parameter of the action of this vehicle M1 of road when driving, is found out by simulation etc..
First, in the case of P ＞ Po, S71 is entered step, the congestion being determined as under Ordinary Rd, in step S72,
Being set with the first permission time Tm1 follows starting to allow time Tmo (Tmo ← Tm1), exits the program.
In addition, in the case of P=Po, S73 is entered step, is determined as that jam road is in can not judge it is Ordinary Rd
Or the intermediate region of super expressway is set with the second permission time Tm2 and starting is followed to allow time Tmo in step S74
(Tmo ← Tm2), exits the program.
Moreover, in the case of P≤Po, S75 is entered step, is determined as super expressway congestion, in step S76, with
Three permission times Tm3, which set, follows starting to allow time Tmo (Tmo ← Tm3), exits the program.
In the present embodiment, road category presumption of the processing in step S61~S71, S73, S75 corresponding to the present invention
Unit follows starting to allow time setting unit in addition, step S72, S74, S76 correspond to.
As a result, in the present embodiment, when estimating the type of jam road, this vehicle when for each expression congestion
Multiple parameters Sav, the θ stav of the action of M1, | front and back G |, Trav, Tsav, set corresponding with its grade identification and evaluation, will set
It is added due to the first~the 5th identification and evaluation value P1~P5 of each parameter and finds out road Identification evaluation of estimate P, known based on the road
Other evaluation of estimate P, estimates the type of road, therefore, other than the effect of above-mentioned first embodiment, additionally it is possible to reduce erroneous judgement
Probability, and estimate with higher accuracy rate the type for the road for being in congestion.
It should be noted that the present invention is not limited to the above embodiments, for example, this vehicle M1 when as expression congestion
The parameter of action can add the action frequency etc. of the foundation brakes 25a under the predetermined time.Furthermore, it is also possible to omit this implementation
A part of parameter such as the judgement of the steering angle described in mode.Moreover, in the present embodiment, when the first automatic starting is allowed
Between be set as Tm1=3 [sec], but the Tm1 can not also be set as ACC automatic starting allow the time, and be set as be
System judgement vehicle follows following for stopping to stop the judgement time.
Claims (5)
1. vehicle follows start control device, which is characterized in that have：
Preceding driving recognition unit, based on the front environment obtained by the front information acquisition unit for being equipped on this vehicle, detection
In the parking and starting of the preceding driving of the traveling immediately front of this vehicle；
Congestion judging unit, at least based on by it is described it is preceding driving recognition unit detect it is described before drive a vehicle parking and
The parameter of the action of described vehicle of step and expression, the congestion for the road that judgement is currently travelling；
Starting allows judging unit, detection by the preceding driving recognition unit detect it is described before the parking driven a vehicle, will be from
Make described vehicle follow it is described before driving and when stopping from down time until detecting the starting of the preceding driving with
Follow starting that the time is allowed to be compared；
Automatic starting control unit is followed, is allowing judging unit to be determined as that the down time is in institute using the starting
It states in the case of following starting to allow in the time, execution follows automatic starting control；
Road category scavenging valve, in the case where being determined as congestion by the congestion judging unit, based on described of expression
The parameter of the action of vehicle, the type for the road that presumption is currently travelling；
Starting is followed to allow time setting unit, according to the kind of the road deduced by the road category scavenging valve
Class follows described in setting starting to allow the time.
2. vehicle as described in claim 1 follows start control device, which is characterized in that
The road category scavenging valve detect it is multiple indicate described vehicle actions parameter, by each parameter with set in advance
Fixed decision content is compared and road Identification evaluation of estimate is set separately, and by each road Identification evaluation of estimate be added and with it is advance
The road category decision threshold of setting is compared to estimate the type of the road.
3. vehicle as claimed in claim 2 follows start control device, which is characterized in that
With multiple decision contents being compared with a parameter,
The road category scavenging valve comparison result between each decision content based on the parameter, for each described
Each parameter identification and evaluation value is added and finds out the final road Identification and comment by parameter, setup parameter identification and evaluation value
Value is compared to the road Identification evaluation of estimate and preset road category decision threshold to estimate the kind of the road
Class.
4. vehicle as claimed in claim 2 or claim 3 follows start control device, which is characterized in that
The type of the road is at least Ordinary Rd and limited highway,
The road Identification evaluation of estimate is compared by the road category scavenging valve with the road category decision threshold, and
It is the Ordinary Rd or the limited highway to deduce the road that described vehicle is travelling.
5. vehicle according to any one of claims 1 to 4 follows start control device, which is characterized in that
When indicating that the parameter of the action of described vehicle includes the speed of this vehicle, steering angle, fore-aft acceleration, the parking
Between, from parking to parking at least one of running time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017021113A JP6478338B2 (en) | 2017-02-08 | 2017-02-08 | Vehicle start control device |
| JP2017-021113 | 2017-02-08 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108394411B (en) | 2019-08-30 |
| JP6478338B2 (en) | 2019-03-06 |
| US10710584B2 (en) | 2020-07-14 |
| JP2018127078A (en) | 2018-08-16 |
| US20180222480A1 (en) | 2018-08-09 |
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